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andreahmed

Untitled

May 6th, 2017
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  1. if(leftMotorSpeed > 0 && rightMotorSpeed > 0 )
  2. {
  3. // set motor speeds using the two motor speed variables above
  4. set_motors_position(leftMotorSpeed, rightMotorSpeed);
  5. }
  6. else
  7. {
  8. set_motors_negative(leftMotorSpeed, rightMotorSpeed);
  9.  
  10. }
  11.  
  12. }
  13.  
  14. void set_motors_negative(int motor1speed, int motor2speed)
  15. {
  16.  
  17. if (motor1speed > M1_maksimum_speed ) motor1speed = M1_maksimum_speed;
  18. if (motor2speed > M2_maksimum_speed ) motor2speed = M2_maksimum_speed;
  19.  
  20. if (motor1speed < -M1_maksimum_speed ) motor1speed = -M1_maksimum_speed;
  21. if (motor2speed < -M2_maksimum_speed ) motor2speed = -M2_maksimum_speed;
  22. if (motor1speed < 0)
  23. {
  24. motor1speed *=-1
  25.  
  26. motor1.setSpeed(motor1speed);
  27. motor1.run(BACKWARD);
  28.  
  29. }
  30. if (motor2speed < 0)
  31. {
  32. motor2speed *= -1;
  33. motor2.setSpeed(motor2speed);
  34.  
  35. motor2.run(BACKWARD);
  36.  
  37. }
  38. }
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